GB2495875A - Assisting vehicle guidance over terrain - Google Patents

Assisting vehicle guidance over terrain Download PDF

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Publication number
GB2495875A
GB2495875A GB1300800.8A GB201300800A GB2495875A GB 2495875 A GB2495875 A GB 2495875A GB 201300800 A GB201300800 A GB 201300800A GB 2495875 A GB2495875 A GB 2495875A
Authority
GB
United Kingdom
Prior art keywords
terrain
classifier
trained
technique
vehicle guidance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
GB1300800.8A
Other versions
GB201300800D0 (en
GB2495875B (en
Inventor
Julia Vivien Will
Richard Arthur Brimble
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BAE Systems PLC
Original Assignee
BAE Systems PLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from EP10275070A external-priority patent/EP2405383A1/en
Priority claimed from GBGB1011364.5A external-priority patent/GB201011364D0/en
Application filed by BAE Systems PLC filed Critical BAE Systems PLC
Publication of GB201300800D0 publication Critical patent/GB201300800D0/en
Publication of GB2495875A publication Critical patent/GB2495875A/en
Application granted granted Critical
Publication of GB2495875B publication Critical patent/GB2495875B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning
    • G06N20/10—Machine learning using kernel methods, e.g. support vector machines [SVM]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N7/00—Computing arrangements based on specific mathematical models
    • G06N7/01—Probabilistic graphical models, e.g. probabilistic networks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/35—Categorising the entire scene, e.g. birthday party or wedding scene
    • G06V20/38—Outdoor scenes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/06—Physical realisation, i.e. hardware implementation of neural networks, neurons or parts of neurons
    • G06N3/067—Physical realisation, i.e. hardware implementation of neural networks, neurons or parts of neurons using optical means
    • G06N3/0675—Physical realisation, i.e. hardware implementation of neural networks, neurons or parts of neurons using optical means using electro-optical, acousto-optical or opto-electronic means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • G06N3/088—Non-supervised learning, e.g. competitive learning

Abstract

A method and system for assisting with guiding a vehicle (100) over terrain is provided. The method includes training (306) at least one first classifier technique (308) using a first set of terrain classifier training data (304), such that the at least one first classifier technique is trained to output at least one probability value (314) usable to classify terrain. The first trained classifier technique (308) is then used to generate a second set (312) of terrain classifier training data. A second classifier technique (322) is trained (320) using the output of the at least one first classifier technique for the second set (312) of terrain classifier training data, and additional data (318) including an image- based representation of the terrain in the second data set, such that the second classifier technique is trained to output a probability value (326) useable to classify terrain. The system includes components to carry out the above steps.
GB1300800.8A 2010-07-06 2011-07-05 Assisting vehicle guidance over terrain Active GB2495875B (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP10275070A EP2405383A1 (en) 2010-07-06 2010-07-06 Assisting with guiding a vehicle over terrain
GBGB1011364.5A GB201011364D0 (en) 2010-07-06 2010-07-06 Assisting with guiding a vehicle over terrain
PCT/GB2011/001008 WO2012004553A1 (en) 2010-07-06 2011-07-05 Assisting vehicle guidance over terrain

Publications (3)

Publication Number Publication Date
GB201300800D0 GB201300800D0 (en) 2013-02-27
GB2495875A true GB2495875A (en) 2013-04-24
GB2495875B GB2495875B (en) 2017-08-02

Family

ID=44515197

Family Applications (1)

Application Number Title Priority Date Filing Date
GB1300800.8A Active GB2495875B (en) 2010-07-06 2011-07-05 Assisting vehicle guidance over terrain

Country Status (6)

Country Link
US (1) US9053433B2 (en)
EP (1) EP2591443B1 (en)
ES (1) ES2654157T3 (en)
GB (1) GB2495875B (en)
PL (1) PL2591443T3 (en)
WO (1) WO2012004553A1 (en)

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US9903719B2 (en) * 2013-09-03 2018-02-27 Litel Instruments System and method for advanced navigation
US9481287B2 (en) * 2014-01-21 2016-11-01 Harman International Industries, Inc. Roadway projection system
WO2016048743A1 (en) * 2014-09-22 2016-03-31 Sikorsky Aircraft Corporation Context-based autonomous perception
JP6742398B2 (en) 2015-07-31 2020-08-19 ブルヴェクター, インコーポレーテッドBluvector, Inc. System and method for retraining field classifiers for malware identification and model heterogeneity
US11210585B1 (en) * 2016-05-20 2021-12-28 Deepmind Technologies Limited Selecting reinforcement learning actions using a low-level controller
GB2552028B (en) * 2016-07-08 2020-07-08 Jaguar Land Rover Ltd Off-Road Route Rating System
FR3054313B1 (en) * 2016-07-21 2020-09-25 Renault Trucks Defense ROUTE CALCULATION METHOD FOR AN ALL-TERRAIN MACHINE
US11205103B2 (en) 2016-12-09 2021-12-21 The Research Foundation for the State University Semisupervised autoencoder for sentiment analysis
US10466361B2 (en) 2017-03-14 2019-11-05 Toyota Research Institute, Inc. Systems and methods for multi-sensor fusion using permutation matrix track association
US10223601B1 (en) 2017-10-12 2019-03-05 Denso International America, Inc. Synthetic traffic object generator
US10866588B2 (en) 2017-10-16 2020-12-15 Toyota Research Institute, Inc. System and method for leveraging end-to-end driving models for improving driving task modules
US10670412B2 (en) * 2018-02-20 2020-06-02 Veoneer Us, Inc. System and method for generating a target path for a vehicle
CN109344741A (en) * 2018-09-11 2019-02-15 中国科学技术大学 A kind of classification of landform method based on vibration signal
GB2577486B (en) * 2018-09-20 2023-05-10 Jaguar Land Rover Ltd Control system for determining vehicle path
DE112019004698T5 (en) * 2018-09-20 2021-06-24 Jaguar Land Rover Limited CONTROL SYSTEM FOR A VEHICLE
US11567514B2 (en) * 2019-02-11 2023-01-31 Tesla, Inc. Autonomous and user controlled vehicle summon to a target
US11556126B2 (en) 2019-02-20 2023-01-17 Toyota Research Institute, Inc. Online agent predictions using semantic maps
US10523342B1 (en) * 2019-03-12 2019-12-31 Bae Systems Information And Electronic Systems Integration Inc. Autonomous reinforcement learning method of receiver scan schedule control
US11703859B2 (en) * 2019-07-05 2023-07-18 Liebherr Mining Equipment Newport News Co. Method for autonomously controlling a vehicle
CN111220146B (en) * 2019-12-10 2022-10-14 哈尔滨工程大学 Underwater terrain matching and positioning method based on Gaussian process regression learning
KR102261303B1 (en) * 2021-04-28 2021-06-07 주식회사 도로시 Method, device and system for analyzing particle size of dynamic aggregate using fusion technology between lidar and camera

Citations (1)

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US20070280528A1 (en) * 2006-06-02 2007-12-06 Carl Wellington System and method for generating a terrain model for autonomous navigation in vegetation

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GB0405741D0 (en) 2004-03-15 2004-04-21 Bae Systems Plc Apparatus for enhancing a signal and related method
WO2007020466A2 (en) 2005-08-19 2007-02-22 Axeon Limited Data classification apparatus and method

Patent Citations (1)

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Publication number Priority date Publication date Assignee Title
US20070280528A1 (en) * 2006-06-02 2007-12-06 Carl Wellington System and method for generating a terrain model for autonomous navigation in vegetation

Non-Patent Citations (3)

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BROOKS C ET AL: "Self supervised terrain classification for planetary rovers", 2007, PROC. NASA SCIENCE TECHNOLOGY CONF. (NSTC2007) *
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HALATCI I ET AL: "Terrain Classification and Classifier Fusion for Planetary Exploration Rovers" 2007 AEROSPACE CONFERENCE, IEEE, Piscataway *

Also Published As

Publication number Publication date
GB201300800D0 (en) 2013-02-27
AU2011275603B2 (en) 2014-03-27
PL2591443T3 (en) 2018-03-30
AU2011275603A1 (en) 2013-02-07
ES2654157T3 (en) 2018-02-12
EP2591443A1 (en) 2013-05-15
US9053433B2 (en) 2015-06-09
GB2495875B (en) 2017-08-02
US20130080359A1 (en) 2013-03-28
WO2012004553A1 (en) 2012-01-12
EP2591443B1 (en) 2017-11-22

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